Add ZED firmware version testing to avoid SBAS setup when necessary.

Author: nseidle

Firmware/RTK_Surveyor/Begin.ino

@@ -338,6 +338,20 @@ void beginGNSS()
     if (ptr != NULL)
       strcpy(zedFirmwareVersion, ptr + strlen("FWVER="));
 
+    //Convert version to a uint8_t
+    if (strstr(zedFirmwareVersion, "1.00") != NULL)
+      zedFirmwareVersionInt = 100;
+    else if (strstr(zedFirmwareVersion, "1.12") != NULL)
+      zedFirmwareVersionInt = 112;
+    else if (strstr(zedFirmwareVersion, "1.13") != NULL)
+      zedFirmwareVersionInt = 113;
+    else if (strstr(zedFirmwareVersion, "1.20") != NULL) //Mostly for F9R HPS 1.20, but also F9P HPG v1.20 Spartan future support
+      zedFirmwareVersionInt = 120;
+    else if (strstr(zedFirmwareVersion, "1.21") != NULL) //Future F9R HPS v1.21
+      zedFirmwareVersionInt = 121;
+    else
+      Serial.printf("Unknown firmware version: %s", zedFirmwareVersion);
+
     //Determine if we have a ZED-F9P (Express/Facet) or an ZED-F9R (Express Plus/Facet Plus)
     if (strstr(i2cGNSS.minfo.extension[3], "ZED-F9P") != NULL)
     {

Firmware/RTK_Surveyor/RTK_Surveyor.ino

@@ -150,6 +150,7 @@ uint32_t casterResponseWaitStartTime = 0; //Used to detect if caster service tim
 #include <SparkFun_u-blox_GNSS_Arduino_Library.h> //http://librarymanager/All#SparkFun_u-blox_GNSS
 
 char zedFirmwareVersion[20]; //The string looks like 'HPG 1.12'. Output to debug menu and settings file.
+uint8_t zedFirmwareVersionInt = 0; //Controls which features (constellations) can be configured (v1.12 doesn't support SBAS)
 uint8_t zedModuleType = PLATFORM_F9P; //Controls which messages are supported and configured
 
 // Extend the class for getModuleInfo. Used to diplay ZED-F9P firmware version in debug menu.

Firmware/RTK_Surveyor/menuGNSS.ino

@@ -265,10 +265,19 @@ bool configureConstellations()
   //long startTime = millis();
   for (int x = 0 ; x < MAX_CONSTELLATIONS ; x++)
   {
-    //Standard UBX protocol method takes ~533-783ms
-    uint8_t currentlyEnabled = getConstellation(settings.ubxConstellations[x].gnssID); //Qeury the module for the current setting
-    if (currentlyEnabled != settings.ubxConstellations[x].enabled)
-      response &= setConstellation(settings.ubxConstellations[x].gnssID, settings.ubxConstellations[x].enabled);
+    //v1.12 ZED firmware does not allow for SBAS control
+    //Also, if we can't identify the version (0), skip SBAS enable
+    if (zedModuleType == PLATFORM_F9P && (zedFirmwareVersionInt == 112 || zedFirmwareVersionInt == 0) && x == 1) //SBAS
+    {
+      //Do nothing
+    }
+    else
+    {
+      //Standard UBX protocol method takes ~533-783ms
+      uint8_t currentlyEnabled = getConstellation(settings.ubxConstellations[x].gnssID); //Qeury the module for the current setting
+      if (currentlyEnabled != settings.ubxConstellations[x].enabled)
+        response &= setConstellation(settings.ubxConstellations[x].gnssID, settings.ubxConstellations[x].enabled);
+    }
 
     //Get/set val method takes ~642ms but does not work because we don't send additional sigCfg keys at same time
     //    uint8_t currentlyEnabled = i2cGNSS.getVal8(settings.ubxConstellations[x].configKey, VAL_LAYER_RAM, 1200);